MAZE-SOLVING

ROBOT USING
TURTLEBOT
- COURSE - SYSTEM INTEGRATION AND
DESIGN
- J COMPONENT - REVIEW 3
- FACULTY - DR. SAKTHIVEL
- SLOT - A1
TEAM MEMBERS
NAME REGISTRATION NUMBER

OLIVER JOEL G 20BMH1003

BHARATH DESIKAN 20BMH1011

GOKUL T 20BMH1043

SAI SANJAY 20BMH1067

MAAZIN MOHAMED 20BMH1060

 INTRODUCTION
❖ A maze solving robot using TurtleBot is an autonomous robot
that uses sensors such as LiDAR and a camera to navigate
through a maze. The robot builds a map of the maze as it moves,
and uses algorithms like depth-first search or A* search to find
the end of the maze efficiently. These robots are commonly used
for entertainment, education, and research in robotics and
artificial intelligence.
❖ One key technology used in TurtleBot robots is SLAM
(Simultaneous Localization and Mapping). This technology
enables the robot to create a map of the environment in real-time
while simultaneously keeping track of its own location within
that environment. This allows the robot to navigate through the
maze with greater accuracy and efficiency.
 METHODOLOGY - SLAM
SLAM (Simultaneous Localization And Mapping) is a technology that
enables a robot to create a map of an environment while simultaneously
determining its own location within that environment. The SLAM methodology
involves three main steps: sensing, mapping, and localization.

★ In the sensing step, the robot uses sensors such as LiDAR or cameras to
gather data about the environment. This data includes information about
the position of walls, obstacles, and other objects within the environment.
★ In the mapping step, the robot uses the data collected in the sensing step
to create a map of the environment. The map is updated continuously as
the robot moves through the environment.
★ In the localization step, the robot uses the map and its current sensor data
to determine its own location within the environment. This involves
comparing the data from the sensors with the map to determine the
robot's position.
 TURTLEBOT
● Open-source robot platform for education,
research, and development.
● Hardware includes mobile base, sensors,
optional arm.
● Software based on ROS for behavior, perception,
and navigation.
● Supports Python and ROS.
● Used in research, education, and industry.
● Enables navigation, mapping, object detection,
manipulation.
● Affordable and accessible for learning and
development.
HARDWARE IMPLEMENTATION
❖ During this phase, we implemented the Simultaneous
Localization and Mapping (SLAM) algorithm on a
physical Turtlebot 3.
❖ However, we encountered an issue where the
Raspberry Pi would not power up initially. We
resolved this issue by integrating a wired power
supply. However, this power supply was not sufficient
to map a larger area.
❖ As a workaround, we removed the power supply from
another Turtlebot 3 and attached it to our setup. This
approach proved successful, allowing us to remotely
access the Raspberry Pi via SSH and install all the
necessary packages. Subsequently, we were able to
execute the SLAM algorithm and generate a map and
a YAML file.
❖ Overall, the implementation of the SLAM algorithm
proved to be successful.
IMPLEMENTATION - PYTHON
CODE
IMPLEMENTATION - YAML FILE
IMPLEMENTATION - NAVIGATION MAP
IMPLEMENTATION - NAVIGATION MAP
IMPLEMENTATION - NAVIGATION THROUGH MAZE
IMPLEMENTATION - VIDEO
IMPLEMENTATION - VIDEO
IMPLEMENTATION - VIDEO
THANK
YOU!